Lift device assembly for handling delivery containers stored within a storage container

Abstract

The invention relates to a lifting device assembly for handling delivery containers stored within a storage container, a delivery container coupler for use in the lifting device assembly, a container handling carrier using the lifting device assembly, a storage and retrieval system on which the container handling carrier operates, a method for lifting a delivery container out of a storage container by using a delivery container coupler, and a computer readable medium storing a computer program comprising instructions for carrying out the steps of the method.

Description

TECHNICAL FIELD

[0001] The present invention relates to a coupling for releasable coupling to a container, an assembly comprising the coupling, and a storage system. The invention also relates to a method for handling a container using the assembly. BACKGROUND

[0002] Fig. 1 discloses an automated storage and retrieval system 100 having a framework / storage grid 101 supported on a floor / platform 700, and Figs. 2, 3 and 4 disclose three different prior art container handling vehicles 200, 300, 350 suitable for operating on such a storage grid 101.

[0003] The framework 101 comprises upright members 102 and a storage volume comprising storage columns 105 arranged between the upright members 102 in rows. In these storage columns 105, storage containers 106, also known as bins, are stacked one on top of another so as to form stacks 107. The members 102 can typically be made of metal, e.g. extruded aluminum profiles.

[0004] The framework 101 of the automated storage and retrieval system 100 comprises a rail system 108 arranged across the top of the framework 101, on which rail system 108 a number of container handling vehicles 200, 300, 350 can run in order to bring storage containers 106 from a storage column 105 and lower storage containers 106 into a storage column, and also to transport the storage containers 106 above the storage columns 105. The rail system 108 comprises a first set of parallel rails 110 arranged to guide the movement of the container handling vehicles 200, 300, 350 in a first direction X across the top of the framework 101, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide the movement of the container handling vehicles 200, 300, 350 in a second direction Y which is perpendicular to the first direction X. Containers 106 stored in the storage columns 105 are accessed by the container handling vehicles 200, 300, 350 through access openings 112 in the rail system 108. The container handling vehicles 200, 300, 350 can move laterally above the storage columns 105, i.e. in a plane which is parallel to the horizontal X-Y plane.

[0005] The upright members 102 of the framework 101 can be used for guiding the storage containers 106 during lifting of the containers out of and lowering of containers into the columns 105. The stacks 107 of containers 106 are typically self-supporting.

[0006] With reference to Figs. 2-4, each prior art container handling carrier 200, 300, 350 comprises a carrier body 201, 301, 351 and a first set of wheels 202a, 302a, 352a and a second set of wheels 202b, 302b, 352b, which respectively enable the container handling carrier 200, 300, 350 to move laterally in the X and Y directions. In Figs. 2 and 3, two wheels from each set of four wheels are visible, while in Fig. 4, three wheels from each set of four wheels are visible. The first set of wheels 202a, 302a, 352a is arranged to engage with two adjacent rails of the first set of rails 110, and the second set of wheels 202b, 302b, 352b is arranged to engage with two adjacent rails of the second set of rails 111. At least one set of wheels 202a, 302a, 352a, 202b, 302b, 352b can be raised and lowered such that the first set of wheels 202a, 302a, 352a and / or the second set of wheels 202b, 302b, 352b can be engaged with the respective set of rails 110, 111 at any time.

[0007] Each prior art container handling carrier 200, 300, 350 further comprises a lifting device 210, 360 for vertically transporting a storage container 106, e.g. raising a storage container 106 from a storage column 105, and lowering a storage container 106 into a storage column. The lifting device 210, 360 comprises one or more gripping elements 362 adapted to engage a storage container 106, and the gripping elements 362 can be lowered from the carrier 200, 300, 350 such that the position of the gripping elements 362 relative to the carrier body 201, 301, 351 can be adjusted in a third direction Z, which is orthogonal to the first direction X and the second direction Y. The lifting device 210, 360 of the container handling carrier 200, 350 is shown in Figs. 2 and 4. The lifting device of the container handling carrier 300 shown in Fig. 3 is located within the carrier body 301.

[0008] Conventionally, and also for the purposes of the present application, Z=1 identifies the uppermost level of storage containers, i.e. the level directly below the rail system 108, Z=2 identifies the second level below the rail system 108, Z=3 identifies the third level, etc. In the exemplary prior art disclosed in Fig. 1, Z=8 identifies the bottommost level of storage containers. Similarly, X=l...n and Y=l...n identify the position of each storage column 105 in the horizontal plane. Thus, as an example, and using the Cartesian coordinate system X, Y, Z shown in Fig. 1, the storage container identified as 106’ in Fig. 1 can be said to occupy the storage position X=19, Y=1 and Z=3. The container handling carriers 200, 300 can be said to travel in level Z=0, and each storage column 105 can be identified by its X and Y coordinates.

[0009] Possible storage locations within the framework / storage grid 101 are referred to as storage cells. Each storage column 105 can be identified by a position in the X and Y direction, while each storage cell can be identified by a container index in the X, Y and Z direction.

[0010] Each prior art container handling vehicle 200, 300, 350 comprises a storage compartment or space for receiving and stowing a storage container 106 when transporting the storage container 106 across the rail system 108.

[0011] The storage space can be located below the cantilevered configuration of the container handling vehicle 200 as shown in Fig. 2. Such a vehicle is described in detail e.g. in NO 317366, the contents of which are incorporated herein by reference.

[0012] In another configuration, the storage space can comprise a cavity arranged inside the vehicle body 301, 351 as shown in Figs. 3 and 4, and described e.g. in WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

[0013] The container handling vehicle 300 shown in Fig. 3 can have a centrally arranged cavity, and an area covering zone covering an area in the X and Y direction, the size of which is typically equal to the lateral extension of the storage columns 105, as described e.g. in WO2015 / 193278A1, the contents of which are incorporated herein by reference.

[0014] Alternatively, the area covering zone of the cavity type container handling vehicle 350 can be larger than the lateral area defined by the storage columns 105, as shown in Figs. 1 and 4, and disclosed e.g. in WO2014 / 090684A1, EP2962962 or WO2019 / 206487A1.

[0015] It should be noted that the term "lateral" used herein can mean "horizontal".

[0016] Fig. 1 shows container handling vehicles having a plurality of cantilevered vehicles 200 (Fig. 3) and a plurality of cavity vehicles 350 (Fig. 4), which vehicles extend beyond the coverage area of a single storage column 105.

[0017] The rail system 108 generally comprises rails 110, 111 having grooves in which the wheels of the vehicles travel. Alternatively, the rails 110, 111 can comprise upwardly protruding elements, wherein the wheels of the vehicles comprise flanges to prevent derailing. These grooves and upwardly protruding elements are collectively referred to as tracks. Each rail 110, 111 can comprise one track, or each rail 110, 111 can comprise two parallel tracks. Each rail 110, 111 can also comprise two track members fastened together, each track member providing one of the pair of rails provided by each rail.

[0018] WO2018 / 146304, the content of which is incorporated herein by reference, shows a typical configuration of a rail system 108 comprising rails and parallel tracks in both the X and Y directions.

[0019] In the framework 100, most of the columns 105 are storage columns 105, i.e. columns 105 where the storage containers 106 are stored in stacks 107. However, some columns 105 can have other purposes. In Fig. 1, columns 119 and 120 are such dedicated columns from where the storage containers 106 are unloaded and / or picked by using the container handling vehicles 200, 300, 350 so that they can be transported to an access station (not shown) where they can be accessed from outside the framework 100 or brought out of or into the framework 100. In the art, such locations are usually referred to as “ports” and the columns where the ports are can be referred to as “port columns” 119, 120. The transportation to the access station can be in any direction, i.e. horizontally, inclined and / or vertically. For example, the storage containers 106 can be placed in a random or dedicated column 105 within the framework structure 100, then picked by any container handling vehicle and transported to a port column 119, 120 for further transportation to an access station. It should be noted that the term “inclined” means transportation of a storage container 106 having a general transportation orientation that is somewhere between horizontal and vertical.

[0020] In Fig. 1, a first port column 119 can for example be an unloading port column where the container handling vehicles 200, 300, 350 can unload transported storage containers 106 to the access and dispatch station 500, and a second port column 120 can be a dedicated pick port column where the container handling vehicles 200, 300, 350 can pick up storage containers 106 that have been transported from the access and dispatch station.

[0021] The access and dispensing stations can typically be picking or kitting stations at which product items are removed from or positioned into the storage containers 106. In the picking or kitting stations, the storage containers 106 are typically not removed from the automated storage and retrieval grid 100, but are returned into the grid 100 again after access. The ports can also be used for transferring storage containers to another storage facility, e.g. to another grid or to another automated storage and retrieval system, to a transport vehicle, such as a train or lorry, or to a production facility.

[0022] When a target storage container 106' stored in one of the columns 105 disclosed in Fig. 1 is to be accessed, one of the container handling vehicles 200, 300, 350 is instructed to retrieve the target storage container 106' from its position and to transport it to an unloading port column 119. This operation involves moving the container handling vehicle 200, 300, 350 to a position above the storage column 105 in which the target storage container 106' is positioned, retrieving the storage container 106 from the storage column 105 using the lifting device 210, 360 of the container handling vehicle 200, 300, 350, and transporting the storage container 106 to an unloading port column 119. If the target storage container 106' is positioned deep within the stack 107, i.e. with one or more other storage containers 106 positioned above the target storage container 106', the operation also involves temporarily moving the storage containers 106 positioned above the target storage container 106' before the target storage container 106' can be lifted from the storage column 105. This step, sometimes referred to as "digging", can be performed using the same container handling vehicle that is subsequently used for transporting the target storage container to the unloading port column 119, or using one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 100 can have container handling vehicles that are dedicated to the task of temporarily removing storage containers from a storage column 105. Once the target storage container 106' has been removed from the storage column 105, the temporarily removed storage containers 106 can be repositioned into the original storage column 105. However, alternatively the removed storage containers 106 can be repositioned into other storage columns 105.

[0023] When a storage container 106' is to be stored in a column 105, one of the container handling vehicles 200, 300, 350 is instructed to pick up the storage container 106' from a picking port column 120 and to transport it to a position above the storage column 105 in which it is to be stored. After any storage containers 106 positioned at or above the target position within the storage column stack 107 have been removed, the container handling vehicle 200, 300, 350 positions the target storage container 106' at the desired position. The removed storage containers 106 can then be lowered back into the storage column 105, or repositioned into other storage columns.

[0024] In order to monitor and control the automated storage and retrieval system 100, e.g. to monitor and control the position of individual storage containers 106 within the framework 101, the contents of each storage container 106, and the movement of the container handling vehicles 200, 300, 350 so that a desired storage container 106’ can be delivered to the desired location at the desired time without the container handling vehicles 200, 300, 350 colliding with each other, the automated storage and retrieval system 100 comprises a control system 600, which is typically computerized and which typically includes a database for keeping track of the storage containers 106.

[0025] In order to facilitate storage and retrieval of the inventory and / or other items stored with the storage containers 106, the items can be picked from the storage containers and placed into delivery containers which are suitable for handling by systems outside the framework 101 described above.

[0026] Especially for large storage systems, the number of times a storage container is retrieved per hour can be in the tens of thousands, typically corresponding to hundreds or thousands of customer orders, and each of these customer orders can contain a number of different items. In order to be able to efficiently handle and deliver the different items in each customer order, while avoiding installing too many expensive conveyor belts and automated handling systems, the items need to be constantly consolidated into delivery containers and placed aside until the moment of shipment.

[0027] One problem with current consolidation systems is that a large external area is needed to store the consolidated delivery containers. However, it is important from an operational and economic point of view that the availability of such temporary storage is typically low, since the storage system needs to occupy as much space as possible.

[0028] It is therefore an object of the present invention to allow for efficient consolidation of items from storage containers into delivery containers without the need, or with little need, for using the area around the framework / storage grid 101 for storing these consolidated delivery containers until shipment. SUMMARY

[0029] The present invention is set out in the independent claims and certain optional features of the invention are set out in the dependent claims.

[0030] In a first aspect, the present invention relates to a lift device assembly for handling delivery containers stored within a storage container.

[0031] The lifting device assembly comprises a delivery container coupler comprising: a coupler frame having a coupler frame lower surface and a coupler frame upper surface; and a delivery container coupling mechanism fixed to the coupler frame and protruding from the coupler frame lower surface for being releasably couplable to a corresponding coupling structure located within an inner volume of the delivery container.

[0032] The coupling structure can form part of the inner surface of the delivery container, such as a recess / hole. Alternatively or in addition, the coupling structure can constitute one or more specific structures having a profile configured to engage with the delivery container coupling mechanism, such as a wedge / plate protruding inwardly from the inner surface. It is also conceivable that the delivery container coupling mechanism is configured to clamp the periphery of the delivery container.

[0033] The lifting device assembly further comprises a lifting device comprising: a lifting frame having a lifting frame lower surface and a lifting frame upper surface; a plurality of clamps connected to the lifting frame for being releasably connected to at least the coupler, preferably to the coupler frame, and optionally attachment points / mounts / elements for attaching a lifting band to the lifting frame.

[0034] The lifting frame is configured such that the lifting frame lower surface can be arranged adjacent the coupler frame upper surface in one or more coupling positions.

[0035] It should be noted that the lifting band can be any means ensuring that the lifting frame is suspended on the carrier / crane and allowing its / their lower end to be raised / lowered by a lifting motor constituting part of the carrier / crane.

[0036] Since the delivery container can be stored within the storage container, the maximum horizontal cross-sectional area of the outer periphery of the delivery container should be smaller than the minimum horizontal cross-sectional area of the inner periphery of the storage container. Furthermore, the vertical height of the delivery container should be equal to or smaller than the vertical height of the storage container.

[0037] Hence, the structure of the lifting device and the coupler is configured such that they can be guided to nest together when the lifting device clamps and controls the coupler.

[0038] In an advantageous configuration of the first aspect of the invention, the coupler frame further comprises a plurality of recesses and / or through-holes, wherein the number of recesses and / or through-holes is at least equal to the number of clamps of the lifting device. Furthermore, the position of each recess and / or through-hole can be such that each clamp is aligned with a corresponding recess and / or through-hole when the lifting frame lower surface is arranged above the coupler frame upper surface in a coupling position. The predetermined coupling position is preferably located at a horizontal position above the coupler in which the vertical central axis of the lifting frame lower surface is aligned with the vertical central axis of the coupler frame upper surface.

[0039] It should be noted that a gripper is defined as any mechanism capable of forming a releasable coupling with a corresponding recess / hole. For example, the gripper can be a remotely operable claw designed to enter the recess / hole in a closed state and abut the vertical wall of the recess / hole in an open state.

[0040] In another advantageous configuration, the lifting device further comprises a sensor configured to sense when the lower surface of the lifting frame is in contact and / or in proximity with the upper surface of the coupler frame.

[0041] The lifting device can further comprise a robot sensor configured to sense when the upper surface of the lifting frame is in proximity with the carrier / crane during operation.

[0042] The sensor and / or the robot sensor preferably comprises a transmitter allowing the transmission of the sensed signal to a remote control system. Furthermore, the one or more sensors / robot sensors can be in the form of a capacitive sensor (mutual and / or self-capacitance) for registering direct contact or proximity with the coupler frame or the carrier / crane.

[0043] For example, the lifting device can comprise four sensors arranged at or near the four edges of the lower surface of the lifting frame.

[0044] Similarly, the lifting device can comprise four robot sensors arranged at or near the four corners of the upper surface of the lifting frame.

[0045] In yet another advantageous configuration, a plurality of grippers, such as claws and / or hooks, protrude from the lower surface of the lifting frame, and wherein the lifting device further comprises a gripper operating mechanism arranged at least partly within the lifting frame. In this preferred example, the gripper operating mechanism is configured to operate at least one of the plurality of grippers.

[0046] In yet another advantageous configuration, the lifting device further comprises a plurality of guide pins preferably arranged at the corners of the lifting frame, the guide pins protruding from the lower surface of the lifting frame for insertion into a receiving recess of a storage container. The guide pins are preferably arranged at the corners of the lifting frame. Furthermore, the storage container is arranged to store a delivery container therein. In this exemplary configuration, the coupler frame further comprises a plurality of guide pin receiving recesses and / or holes extending between the lower surface of the coupler frame and the upper surface of the coupler frame and oriented perpendicular to the surfaces of the coupler frame. The position of each guide pin receiving recess and / or hole is such that when the lower surface of the lifting frame is arranged in the coupling position above the upper surface of the coupler frame, each guide pin passes through a corresponding guide pin receiving recess and / or hole.

[0047] In yet another advantageous configuration, the horizontal cross-sectional area of the lower surface of the lifting frame is at least equal to the horizontal cross-sectional area of the upper surface of the coupler frame.

[0048] In yet another advantageous configuration, the delivery container coupling mechanism comprises at least two gripper paddles / plates for gripping the delivery container, which are arranged at equal and opposite distances from a vertical center plane (CP) which is oriented perpendicular to the lower surface of the coupler frame and intersects the center point of the surface.

[0049] In this exemplary configuration, each of the gripper paddles comprises a protrusion which is located below the lower surface of the coupler frame for insertion into a corresponding coupling structure / formation of the delivery container. The coupling structure / formation can be a recess / orifice / through-hole within the inner volume of the delivery container and / or an internal flange at the periphery of the delivery container, below which the protrusion can be arranged.

[0050] An opposite configuration can also be feasible, i.e. a recess at each gripper paddle and a corresponding protrusion, such as a wedge or tab, from the inner wall of the delivery container.

[0051] Each of the gripping paddles can also comprise an upper end which is pivotably or elastically connected to the coupler frame.

[0052] The gripper paddles are arranged inside the gripper of the lifting device, as these paddles are intended to pick up smaller delivery containers within larger storage containers. When in the coupled position, the gripper of the lifting device is arranged around the peripheral area / opening frame of the storage container and the gripper paddles of the coupler are articulated to the coupler frame inside the gripper.

[0053] In yet another advantageous configuration, the delivery container coupling mechanism can also comprise a displacement system for displacing the two gripper paddles from the vertical center plane CP in opposite directions until the protrusions engage the respective coupling structures / formation of the delivery container. The displacement system is preferably also configured such that the protrusions can be disconnected to release the delivery container.

[0054] The displacement system can further comprise: a motor, preferably arranged at or near the central plane CP; a control system configured to control operation of the motor; a first linkage (such as a first arm), one end of which is at least indirectly connected to the motor and the other end of which is connected to one of the two gripper paddles; and a second linkage (such as a second arm), one end of which is at least indirectly connected to the motor and the other end of which is connected to the other of the two gripper paddles. The motor can be configured to displace the first and second linkages away from the vertical central plane CP in opposite directions. For example, the motor can cause a pivot of a rotating element connecting the first and second linkages to the motor to rotate.

[0055] Furthermore, the displacement system can comprise a rotating element (such as a disc) connecting the first and second linkages with a shaft of the motor, wherein the motor, the rotating element, and the linkages are configured such that counter-displacement of the first and second linkages is achieved by rotating the rotating element clockwise or counter-clockwise between 0 and 180 degrees (e.g. 90 degrees, optionally ±30 degrees). The ends of the linkages are connected to the motor such that the first and second linkages / arms are parallel to each other when in the extended position.

[0056] The control system can be split into a lower part located at the coupler frame lower surface, and an upper part located at the coupler frame upper surface. The upper part can comprise one or more lift device connectors / electrical contacts in signal communication with the lower part. Furthermore, the lift frame can comprise one or more coupler connectors / electrical contacts in signal communication with the one or more lift device connectors. With this specific configuration of the control system, when connected, the gripper paddles can be remotely controlled via the lift device.

[0057] In a second aspect, the present invention relates to a delivery container coupler for use in a lift device assembly according to the above description.

[0058] The coupler comprises: a coupler frame having a coupler frame lower surface and a coupler frame upper surface; and a delivery container coupling mechanism fixed to the coupler frame and protruding from the coupler frame lower surface for releasable coupling to a corresponding coupling structure / formation located within (e.g. within or at an inner wall of) an internal volume of a delivery container. In this second aspect, the coupler is configured to be gripped by a plurality of gripper paddles of a lift device from the coupler frame upper surface.

[0059] The coupler can further comprise a connector / electrical contact on the coupler frame upper surface to receive power and optionally signals from the lifting device when the coupler frame upper surface is in the coupled position under the lifting device and clamped by the clamping device of the lifting device. The power and signals are used to operate the clamping member / paddle of the delivery container coupling mechanism to clamp the formations at the inner surface of the delivery container and / or the flange at the periphery of the delivery container. Alternatively, the signal communication can be transmitted wirelessly between a receiver at or in the coupler and one or more remote control systems. Furthermore, the one or more remote control systems can be located within a container handling vehicle and / or within a central control system for the storage system.

[0060] The coupler should further be configured to allow switching of the control signals once the coupler is picked up so that the clamping paddle is commanded by the signal of the vehicle to pivot inwards and outwards to clamp the delivery container. The clamping device of the lifting device remains in a static clamping position when the coupler is attached.

[0061] In an advantageous configuration of the second aspect of the invention, the delivery container coupling mechanism comprises a clamping paddle arranged to pivot outwards or elastically displace to contact the coupling formations of the delivery container.

[0062] In another advantageous configuration, the coupler is configured to extend no more than the periphery of the lifting device in a transverse / horizontal direction, which is intended to be coupled with the coupler.

[0063] All other configurations of the coupler described in connection with the first aspect are also applicable to the second aspect.

[0064] In a third aspect, the invention relates to a container handling vehicle comprising: drive means configured to travel along a foundation, such as a rail system; a lifting device assembly according to the above description; a storage container space for receiving and loading a storage container; a lifting motor for lifting a storage container into the storage container space; and a lifting belt having one end connected to the attachment point / mount of the lifting device and the other end connected to the lifting motor.

[0065] Alternatively, the container handling vehicle can be a crane suspended on a rail system.

[0066] In a fourth aspect, the invention relates to a storage and retrieval system comprising a framework and a rail system. The framework comprises a number of upright vertical members defining a number of storage columns for storing stacks of storage containers. The rail system is arranged on top of the framework and comprises vertical rails the intersections of which form a grid of grid cells. The rails define grid openings into the storage columns.

[0067] The storage and retrieval system further comprises a container handling carrier comprising drive means, such as electric wheels, configured to travel along the rail system, a lifting arrangement assembly according to the above description, a storage container space for receiving and loading a storage container, a lifting motor for lifting a storage container into the storage container space, and a lifting belt, one end of which is connected to the attachment point / mount and the other end of which is connected to the lifting motor. The lifting motor can be arranged at least partly above the container space or sideways of the container space. The latter arrangement is typically the case for a cantilevered carrier (see above). It is also conceivable that a carrier configuration is envisaged wherein the lifting motor is arranged closer to the rail system.

[0068] In an advantageous configuration of the fourth aspect of the invention, the storage and retrieval system further comprises a control system and a robotic picking device in signal communication with the control system. The robotic picking device comprises a robot base, a first robot segment / arm rotatably connected to the robot base, and an operating end configured to allow a releasable connection to a delivery container. The robotic picking device is configured such that the operating end can be moved to a position at least within range of a storage container to be delivered to the access and dispensing station.

[0069] The robotic picking device is preferably arranged outside and adjacent to the storage and retrieval system.

[0070] In a fifth aspect, the invention relates to a method for lifting a delivery container out of a storage container by using a delivery container coupler when the delivery container is arranged within the inner volume of the storage container.

[0071] The lifting is performed by a container handling carrier comprising a storage container space for receiving and loading a storage container, drive means configured to move the carrier along a base, a lifting arrangement for lifting and lowering a storage container, a lifting motor for lifting a storage container into the storage container space, and a lifting belt, one end of which is connected to an attachment point / mount of the lifting arrangement and the other end of which is connected to the lifting motor. The lifting motor can be arranged at least partly above the storage container space or sideways of the storage container space.

[0072] The lifting arrangement comprises a lifting frame having a lifting frame lower surface and a lifting frame upper surface, and a plurality of grippers protruding from the lifting frame lower surface.

[0073] Furthermore, the coupler comprises a coupler frame having a coupler frame lower surface and a coupler frame upper surface, and a delivery container coupling mechanism fixed to the coupler frame and protruding from the coupler frame lower surface for being releasably couplable to a corresponding coupling structure / formation located within the inner volume of the delivery container, e.g. at the inner wall of the delivery container, and / or located at the periphery of the delivery container.

[0074] The method comprises the steps of:

[0075] - lowering the lifting device such that the lifting frame lower surface is in contact or close to the coupler frame upper surface,

[0076] - forming a lifting device assembly by clamping the coupler with the clamping device of the lifting device,

[0077] - raising the lifting device, wherein the coupler is connected to the lifting device,

[0078] - moving the container handling vehicle to a position in which the lifting device assembly is located above a storage container containing the delivery container,

[0079] - lowering the lifting device assembly to a position in which the coupler can be connected with the delivery container,

[0080] - connecting the coupler to the delivery container, and

[0081] - raising the delivery container from within the storage container (thereby separating the delivery container from the storage container) by using the lifting motor until the delivery container is at least partially located within the storage container space.

[0082] In an advantageous example of the fifth aspect of the application, the storage container containing the delivery container to be lifted is stored in a storage and retrieval system, which, in addition to the above-mentioned container handling vehicle, comprises a frame comprising a plurality of vertical upright members, and a rail system arranged on top of the frame, corresponding to the above-mentioned base. The upright members define a plurality of storage columns for storing stacks of storage containers. The rail system comprises vertical rails, the intersection points of which form a grid of grid cells. Thus, the rails define grid openings into the plurality of storage columns. Thus, the movement of the vehicle is limited to the direction of the rails in the rail system.

[0083] In this particular configuration, the delivery container coupler can initially be supported on the rail system.

[0084] In another advantageous example of the fifth aspect, the storage and retrieval system further comprises a port column formed by vertical upright members, and an access and dispensing station arranged at the lower end of the port column.

[0085] In this particular configuration, the method further comprises the steps of:

[0086] - moving the container handling vehicle to a position in which the delivery container is located directly above the port column, and

[0087] - transporting the delivery container to the access and dispensing station, e.g. by using a lifting device of the vehicle.

[0088] Alternatively, the delivery container can be transported to the access and dispensing station by using one or more conveyors.

[0089] In yet another advantageous example, the method further comprises the steps of:

[0090] - reconnecting the container handling vehicle to the coupler, if necessary,

[0091] - moving the container handling vehicle to a position in which the coupler is located directly above the port column,

[0092] - lowering the coupler into the port column until the coupler is in a clamping position in which the delivery container is located at a lower end of the port column,

[0093] - connecting the delivery container to the coupler, and

[0094] - at least partially raising the delivery container into a storage container space of the container handling vehicle.

[0095] Alternatively, the vehicle is moved to a position at an end of a conveyor which transports the delivery container from the access and dispensing station.

[0096] In a sixth aspect, the present application relates to a computer readable medium having stored thereon a computer program comprising instructions for implementing the method steps described above. BRIEF DESCRIPTION OF DRAWINGS

[0097] The following drawings depict alternatives of the present application and are included to further teach any of the above-described embodiments of the present application. However, a specific feature of the drawings is merely for illustrative purposes and is not to be construed as being limiting in any manner.

[0098] Fig. 1 is a perspective view of a prior art automated storage and retrieval system.

[0099] Fig. 2 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers thereunder.

[0100] Fig. 3 is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for carrying storage containers therein.

[0101] Fig. 4 is a perspective view of a prior art container handling carrier having an internally arranged cavity for carrying a storage container therein, wherein the cavity is off-center with respect to the X-direction.

[0102] Figure 5 is a side perspective view of the prior art container handling carrier in Fig. 2, wherein the lifting device of the container handling carrier is aligned above the coupler frame of the delivery container coupler for releasable connection to a delivery container stored within a storage container.

[0103] Figure 6 is a side perspective view of the prior art container handling carrier in Fig. 2, wherein the lifting device of the container handling carrier has been coupled to the coupler frame, and the resulting assembly is positioned in contact with a storage container containing a delivery container.

[0104] Figure 7 is a cross-sectional view of the lifting frame of the lifting device, the coupler frame of the delivery container coupler, the delivery container, and the storage container from top to bottom, wherein the frame and containers are vertically aligned with each other.

[0105] Figure 8 is a cross-sectional view of a lifting device assembly according to an embodiment of the present application, wherein the lifting device has been releasably connected to the coupler, and wherein the coupler is releasably connected to the delivery container.

[0106] Figure 9 is a cross-sectional view of a lifting device assembly according to an embodiment of the present application, which is connected to the delivery container and is raised such that the delivery container is located above the storage container.

[0107] Figure 10 is a side perspective view of a lifting device assembly according to an embodiment of the present application, wherein the coupler is connected to the delivery container.

[0108] Figure 11 is a perspective view of a portion of a storage and retrieval system according to another embodiment of the present application, which includes a first type of robotic picking device for picking a delivery container within a storage container.

[0109] Figure 12 is Figure 11 is another perspective view of a portion of the storage and retrieval system shown in Fig.

[0110] Figure 13 is a perspective view of a portion of a storage and retrieval system according to another embodiment of the present application, which includes a second type of robotic picking device for picking a delivery container within a storage container. DETAILED DESCRIPTION

[0111] In the following, different embodiments will be discussed in more detail with reference to the enclosed drawings. It should be understood, however, that the drawings are not intended to limit the scope of the present application to the subject matter depicted in the drawings. Furthermore, even if only some of the features are described with respect to the system, it will be apparent that these features are applicable also to the method, and vice versa.

[0112] Figure 5 A cantilevered container handling vehicle 200 is shown in perspective view, comprising a vehicle body 201, a first set of wheels 202a for movement in the X-direction, a second set of wheels 202b for movement in the Y-direction, a cantilever 203 extending from an upper portion of the vehicle body 201, and a lifting device 210 suspended below the cantilever 203, configured to releasably clamp and lift both a storage container 106 and a coupler 1 as further described below.

[0113] The lifting device 210 comprises a lifting frame 211 having a lower surface 211'and an upper surface 211 " oriented in the X-Y plane, a clamp 212 such as a claw or hook protruding from the lower surface 211 ', a lifting belt 213 attached at its lower end to an attachment point 213' at the upper surface 211 ", at its upper end to a lifting mechanism (not shown) arranged at least partly within the cantilever 203, and guide pins 215 oriented in the Z-direction and attached to four side corners of the lifting frame 211.

[0114] The coupler 1, configured to be releasably connected to a delivery container 20, is shown below the lifting device 210, wherein the delivery container 20 is dimensioned such that it can fit into the storage container 106. As Figure 5 is seen, the delivery container 20 can also be lower in height than the storage container 106.

[0115] In the following, the storage container 106 and the delivery container 20 will be referred to as a bin and a tote, respectively.

[0116] With further reference to Figures 7 to 9 , the coupler 1 comprises a coupler frame 2 having a lower surface 2' and an upper surface 2", a delivery container coupling mechanism 3 for releasable connection to a clamping structure / arrangement 21 located on an inner wall or edge of the tote 20, a rotating disc 6 rotatably connected to a motor 5, and connecting rods / arms 9, 9a, 9b connecting the clamp paddles with the rotating disc 6.

[0117] In Figures 7 to 9 , the clamping structures 21 are recesses / apertures in the inner wall of the tote, located below the open edge 22 of the tote.

[0118] The delivery container coupling mechanism 3 can comprise two container gripper paddles 3 (a first paddle 3a and a second paddle 3b), hereinafter referred to as shipping box paddles, wherein each shipping box paddle 3a, 3b has a protrusion 3’ such as a flange, rib or folded edge at a lower end, and wherein the upper end 3” of the paddles 3 are pivotally and / or resiliently attached to the coupler frame 2. Furthermore, the length and design of each shipping box paddle 3 is arranged such that when the coupler frame 2 abuts the open frame / upper edge 22 of the shipping box 20, the protrusion 3’ is vertically aligned (same height) with the recess / aperture 21 within the inner wall of the shipping box 20.

[0119] The actuator system 5-9, also forming part of the coupler 1, is arranged together with and / or below the coupler frame 2. The actuator system 5-9 is configured to displace the first and second shipping box paddles 3a, 3b in opposite directions by remote operation.

[0120] In the specific embodiment shown in Figures 6 to 9 , the actuator system 5-9 comprises a motor 5, a control system 7 allowing control of the operation of the motor 5 and capable of signal communication with the control system 600, a rotary disc 6 connected to the motor 5, and two connecting rods / displacement arms 9a, 9b connecting the rotary disc 6 to each shipping box paddle 3a, 3b.

[0121] The motor 5, the rotary disc 6 and the control system 7 are fixed to the coupler frame 2a by a motor bracket 8 in the form of an angle bracket. The motor 5 can be a DC motor, for example.

[0122] The two connecting rods / displacement arms 9a, 9b are configured and dimensioned in Figures 6 to 9 such a way that:

[0123] The first ends of the first and second connecting rods 9a, 9b are pivotally connected to the rotary disc 6 at opposite sides of the rotation axis of the disc 6, while the second ends of the first and second connecting rods 9a, 9b are pivotally connected to the first and second shipping box paddles 3a, 3b, respectively.

[0124] The specific configuration of the first ends of the connecting rods 9a, 9b on the rotary disc 6 is such that the lengths of the connecting rods 9a, 9b are equal and inversely displaced, and thus that the shipping box gripper paddles 3a, 3b are equally pivoted.

[0125] By adjusting the position, angle and length of the transport box paddle 3 so that the protrusion 3’ is aligned at the same vertical level (same height) as the recess / orifice 21 of the transport box 20, and by ensuring that the rotating disc 6 is rotated by the motor 5 (which causes the transport box paddle 3 to deflect horizontally), the actuator system 5-9 is allowed to switch between a locked position, in which the protrusion 3’ is inside the respective recess / orifice 21, and a released position, in which the protrusion 3’ is removed from the respective recess / orifice 21.

[0126] The degree to which the rotating disc 6 is rotated by the motor 5 should be sufficient to ensure that the protrusion 3’ is inserted into the recess / orifice 12. The rotation is preferably in the range of 70° to 100°, for example 90°.

[0127] The motor 5 can be operated remotely via a coupler control system 7 arranged on or within the coupler frame 2. The coupler system 7 comprises a lift device connector 7” in the form of an electrical pin for transmitting electrical power and any control signals from the lift device 210 when the coupler is in a coupled position below the lift device 210 and clamped by the clamp 212. Said electrical power and signals transmitted via the lift device 210 enable the motor 5 to be driven and adjusted, which also operates the clamp paddle to be connected to the clamping structure 21 of the transport box 20 via the rotating disc 6 and the connecting rod 9. The coupler control system 7 can also comprise a separate transmission system 7’ configured for wirelessly transmitting / receiving signals to / from one or more remote control systems 600.

[0128] In Figures 7 to 9 , the clamp 212 in the form of a claw is shown connected to the coupler frame 2 via a recess 10 arranged in horizontal alignment with the claw located on the upper surface 2”. The clamping operation of the claw 212 is achieved by a clamp operating mechanism 212’ arranged within the lift frame 211.

[0129] In Figure 7 , the coupled assembly 1, 210 consisting of the lift device 210 and the coupler 1 is placed on top of the open frame of the storage box 106. The guide pin 215 of the lift device 210 protruding from the corner of the lift frame 211 helps to guide the assembly in alignment with the storage box 106.

[0130] Furthermore, the lifting device 210 can comprise one or more carrier sensors 216 and one or more coupler sensors 217, which protrude from the corners of the upper surface 211" and the lower surface 211', respectively. The carrier sensors 216 can register proximity and / or contact with the carrier 200, 300, 350 to which the lifting device 210 is connected. Likewise, the coupler sensors 217 can register proximity and / or contact with the coupler frame 2. Both types of sensors 216, 217 can comprise a transmitter that allows the sensed signal to be transmitted to the remote control system 600. Furthermore, the coupler sensors 217 / carrier sensors 216 can be in the form of capacitive sensors (mutual and / or self-capacitance) for registering direct contact or proximity with the coupler frame 211 or the carrier / crane 200, 300, 350.

[0131] The coupler 1 can also comprise additional transport box guide plates 4 protruding from the lower surface 2' to ensure correct alignment with the open frame of the transport box 20. Thus, the lower end of the transport box guide plates 4 should be arranged to correspond to the dimensions of the open frame 22 of the transport box 20. The guide plates 4 can be elastically connected to the coupler frame 2.

[0132] In the specific case of picking up a transport box 20 from a storage container 106 (hereinafter referred to as a bin) that is higher and slightly wider than the transport box 20, or inserting a transport box into a storage container, the coupler frame 2 can advantageously be tilted inwards in the direction from the upper surface 2" to the lower surface 2' to avoid unwanted jamming between the coupler frame 2 and the open frame of the bin 106.

[0133] One specific example of operation using the coupler 1 in a storage and retrieval system 100 as described above and illustrated in Figs. 1 to Figure 10 One specific example of operation using the coupler 1 in a storage and retrieval system 100 as described above and illustrated in Figs. 1 to

[0134] The operation can comprise the following steps:

[0135] Step 1. The container handling carrier 200, 300, 350 is instructed by the control system 600 to pick up an available coupler 1 arranged within reach of the carrier 200, 300, 350 located on, at or above the rail system 108.

[0136] Step 2. When the connector 1 is successfully connected below the lifting device 210 of the vehicles 200, 300, 350, the vehicles 200, 300, 350 are instructed to move to a position in which the lifting device assemblies 1, 210 (including the lifting device 210 and the connector 1) located on the track system 108 are aligned directly above the storage column 105, in which the storage box 106 containing the target transport box 20 is arranged on top of the stack 107.

[0137] Step 3. Carriers 200, 300, and 350 lower components 1 and 210 to arrangements 20 and 106 where the transport container is located within the storage compartment, until the protrusion 3' of the transport container paddle 3 is aligned with the corresponding clamping structure 12 of the transport container 20. Components 1 and 210 are preferably designed such that this alignment is achieved when the lowermost portion of components 1 and 210 abuts the periphery / opening frame of the storage compartment 106.

[0138] Step 4. The coupling control system 7 instructs the motor 5 to rotate the rotating element 6, thereby causing the connecting rods 9a and 9b to move outward in opposite directions, thus connecting the protrusion 3' to the clamping structure 12 (see...). Figure 8 Commands can be transmitted from transmitters within vehicles 200, 300, and 350 via an electrical connector between lifting device 210 and connector 1 (see, for example...). Figure 7 The signal can be sent from the control system 600 to the receiver on the connector control system 7. Such a receiver can be integrated into the motor 5.

[0139] Step 5. Vehicles 200, 300, and 350 lift components 1 and 210 with transport container 20 so that the bottom of transport container 20 is positioned at a distance above the track system 108.

[0140] Step 6. The vehicles 200, 300, and 350 are moved to a position where the components 1 and 210 with the target transport box 20 are located directly above the storage column 105 in the integration area of ​​the track system 108, with an empty storage box 106 at the top of the stack 107.

[0141] Step 7. Place the target delivery box 20 into the empty storage box 106 by following these steps:

[0142] Lower components 1 and 210 so that the target transport box 20 is at least partially, preferably entirely, located within the storage box 106, and

[0143] The protrusion 3' is disconnected from the clamping structure 21 by rotating the rotating element 6 in the opposite direction to that in step 4.

[0144] Step 8. When one or more products stored in a target tote 20 are to be retrieved from the storage and retrieval system 100, a carrier 200, 300, 350 moves to the storage column 105 in step 7 and uses the same process as in steps 1-5 (or, in the case of a carrier 200, 300, 350 in question already having a coupler 1 coupled to the lifting device 210, as in steps 2-5) to pick the target tote 20 from the bin 106.

[0145] Step 9. The carrier 200, 300, 350 moves to a position in which the assembly 1, 210 with the target tote 20 is directly above a dedicated unloading port column 119 (see Fig. 1) and lowers the target tote 20 through the port column 119 to an access and dispensing station 500 arranged at the lower end of the port column.

[0146] Step 10. The target tote 20 is picked up by the human operator and / or robotic picking device 400 and placed on a suitable transport mechanism, such as a conveyor system 503, for further transport to an end customer.

[0147] Step 11. An empty tote 20 is transported by the transport mechanism of step 10 to a position within reach of the human operator and / or robotic picking device 400.

[0148] Step 12. The empty tote 20 is raised by use of the carrier 200, 300, 350 via the picking port column 120 to a position at a distance above the rail system 108 and placed in a storage column 105 by performing any of the steps 1-9 in reverse order.

[0149] The target tote 20 can be transported directly from the storage column 105 in step 2 to the unloading port column 119 (thus omitting steps 6-8).

[0150] Furthermore, only one port column 119 or 120 can be used throughout the operational steps 1-12.

[0151] Other mechanisms for transporting the target tote 20 from the carrier 200, 300, 350 to the access and dispensing station 500 can be envisaged, including separate bin transport devices such as vertical bin lifts and / or inclined conveyors.

[0152] In an alternative integrated approach according to the present application, the robotic picking device 400 is arranged at or above the level of the rail system 108, allowing the integration of totes 20 in bins 106 to be performed at least partly by the robotic picking device 400. Such alternative configurations can also allow for direct transfer of products between totes 20 and / or bins 106.

[0153] In another alternative integration method according to the application, the carrier 200, 300, 350 does not pick up the coupler before performing steps 8 and 9, but instead uses the lifting device 210 of the carrier to pick up the storage bin 106 containing the target tote 20 and deliver the arrangement 20, 106 of totes in the storage bin to the unloading port column 119 for further transport to the access and dispensing station 500.

[0154] Figures 11 to 13 Two different embodiments of a product handling system 400, 500 arranged in the vicinity of the unloading port column 119 of the automated storage and retrieval system 100 are shown. The product handling system 400, 500 comprises a robotic picking device 400 as well as an access and dispensing station 500.

[0155] The robotic picking device 400 comprises a robot base 401, two or more robot segments 402-404, and an operating end 405 configured to grip and release totes 20, e.g. by using a second coupler 406 similar to the coupler 1 described above.

[0156] In the first embodiment shown in Figure 11 and Figure 12 , the access and dispensing station 500 comprises a container basket 501 configured to temporarily store / hold storage bins 106, and a storage system access opening 502 through which the container basket 501 can be guided, e.g. using a dedicated container basket displacement mechanism (not shown). The container basket 501 can also be configured to only allow temporary storage of totes 20. It is also conceivable that the container basket 501 can store storage bins 106 or smaller totes 20.

[0157] Figure 11 and Figure 12 The station 500 also comprises a conveyor system 503 located at least partially outside the frame 101 of the storage and retrieval system 100. The conveyor system 503 can comprise a first conveyor belt 503a and a second conveyor belt 503b arranged parallel to each other. As Figure 11 shown in , by placing one end of each of the conveyor belts 503a, 503b in close proximity to the access opening 502, it is possible to simultaneously transport totes 20 to the container basket 501 as well as from the container basket, thereby increasing the overall efficiency of the product handling system 400, 500.

[0158] Figure 12 With particular reference to

[0159] - a robot base 401 fixed on the platform / floor 700,

[0160] - a first robot section 402 connected in vertical orientation to the robot base 401 such that controlled displacement in parallel to the platform / floor 700 in direction to / from the storage system 100 is possible,

[0161] - a second robot section 403 connected in horizontal orientation to the first robot section 402 such that controlled vertical displacement is possible, and

[0162] - an operating end 405 connected at least indirectly to the second robot section 403.

[0163] The above mentioned second coupling 406 located on the operating end 405 comprises a handle 15 arranged on top of the coupling frame 2.

[0164] The vertical / horizontal orientation is in the following measured in relation to the platform / floor 700 of the robot base 401. It is also to be noted that the frame 101 of the conveyor system 503 and / or the storage volume of the storage and retrieval system 100 can be supported on the same platform / floor 700 or alternatively on other platforms arranged at different vertical levels.

[0165] The controlled horizontal and vertical displacement can be achieved by known displacement means such as electric linear actuators and / or hydraulic cylinders. The connection end of the second robot section 403 can for example be guided along a vertical pole forming part of the first robot section 402.

[0166] The robot picking device 400 is further arranged such that the operating end 405 can be manoeuvred to a central position above the container basket 501.

[0167] With the specific setup described above, and with the second coupling 406 connected to the operating end 405 of the robot picking device 400, any transport box 20 stored within a respective storage bin 106, which can also be stored within the container basket 501, can be picked via remote operation of the second coupling 406 and at least one of the first and second robot sections 402, 403 when the container basket 501 has been placed in a picking position outside the access opening 502.

[0168] It is to be noted that a storage bin 106 designed to contain a transport box 20 can reside within the container basket 501 at any time during operation. Alternatively, the container basket 501 can be designed to temporarily store a target transport box 20 as mentioned above.

[0169] Figure 13A second embodiment of a product handling system 400, 500 using the above described second coupler 406 is shown. The second embodiment is almost identical in structure and operation to the first embodiment, except that another type of robotic picking device 400 is used, namely a multi-jointed robotic picking device.

[0170] The multi-jointed robotic picking device 400 comprises a robot base 401 connected to a fixed platform / floor 700, a first robot segment 402 rotatably connected to the robot base 401, preferably having a vertical rotation axis C RB ; a second robot segment 403 rotatably connected to the first robot segment 402, preferably having a horizontal rotation axis parallel to the platform / floor 700; a third robot segment 404 rotatably connected to the second robot segment 403; an operating end 405 forming part of the third robot segment 403 or being rotatably coupled to the third robot segment, and the second coupler 406 as described above, preferably removably connected to the operating end 405.

[0171] All joints, i.e. the rotatable connection points described above, are equipped with remotely operated and / or autonomously operated rotation mechanisms, allowing the multi-jointed robotic picking device 400 to pick a transport bin 20 with product items from within a storage bin 106 arranged inside a container basket 501 or directly from the container basket 501 and place the transport bin 20 onto a conveyor 503a transporting the transport bin 20 away from the framework 101. Likewise, the multi-jointed configuration allows the robotic picking device 400 to pick an empty transport bin 20 from the conveyor 503b transporting the transport bin 20 towards the framework 101 and place the empty transport bin 20 into a storage bin 106 arranged inside the container basket 501 or directly into the container basket 501.

[0172] In the foregoing description, numerous specific details have been set forth to provide a thorough understanding of various aspects of couplers for releasable coupling to a container, lift device assemblies comprising such couplers, product handling systems for handling transport bins, automated storage and retrieval systems, and associated methods. For the purpose of clarity, specific numbers, systems, and configurations have been set forth so as to provide a thorough understanding of the system and its working. However, the description is not intended to be limiting. Numerous modifications, adaptations, and variations of the illustrative embodiments discussed above will be apparent to those skilled in the art to which the disclosed subject matter pertains, and it is intended to encompass such modifications, adaptations, and variations in the scope of the present invention.

[0173] Reference Signs:

[0174]

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[0176]

Claims

1. A lifting device assembly (1, 210) for disposing of a delivery container (20) stored within a storage container (106), the lifting device assembly (1, 210) comprising: - Delivery container connector (1), comprising: The connector frame (2) has a lower surface (2') and an upper surface (2'') of the connector frame; and The delivery container coupling mechanism (3) is fixed to the coupling frame (2) and extends from the lower surface (2') of the coupling frame for releasable coupling to a corresponding coupling structure (21) within the internal volume of the delivery container (20). - Lifting device (210), including: The lifting frame (211) has a lower surface (211') and an upper surface (211'') of the lifting frame, and Multiple clamps (212) are connected to the lifting frame (211) for releasable connection to the connector (1). - wherein the lifting frame (211) is configured such that the lower surface (211') of the lifting frame can be arranged adjacent to the upper surface (2'') of the connector frame in the connection position.

2. The lifting device assembly (1, 210) according to claim 1, wherein, The connector frame (2) also includes: - A plurality of recesses and / or through holes (10), wherein the number of the plurality of recesses and / or through holes (10) is at least equal to the number of the clamps (212), and wherein, - The position of each recess and / or through hole (10) is such that when the lower surface (211') of the lifting frame is arranged above the upper surface (2'') of the connector frame in the connection position, each clamp (212) is aligned with the corresponding recess and / or through hole (10).

3. The lifting device assembly (1, 210) according to claim 1 or 2, wherein, The lifting frame (211) also includes: - Attachment mounting bracket (213') for attaching the lifting belt (213).

4. The lifting device assembly (1, 210) according to claim 1 or 2, wherein, The lifting device (210) also includes: - Sensor (217) is configured to sense the time when the lower surface (211') of the lifting frame contacts and / or approaches the upper surface (2'') of the connector frame.

5. The lifting device assembly (1, 210) according to claim 1 or 2. in, The plurality of grippers (212) extend from the lower surface (211') of the lifting frame, and wherein, The lifting device (210) also includes a gripper operating mechanism (212') arranged at least partially within the lifting frame (211).

6. The lifting device assembly (1, 210) according to claim 1 or 2. in, The lifting device (210) also includes a plurality of guide pins (215) extending from the lower surface (211') of the lifting frame to insert into a receiving recess of a storage container (106) arranged to hold the delivery container (20) within it. The connector frame (2) further includes a plurality of guide pin receiving recesses and / or through holes (11) extending between the lower surface of the connector frame and the upper surface (2, 2'') of the connector frame. The position of each guide pin receiving recess and / or through hole (11) is such that when the lower surface (211') of the lifting frame is arranged above the upper surface (2'') of the connector frame in the connection position, each guide pin (215) passes through the corresponding guide pin receiving recess and / or through hole (11).

7. The lifting device assembly (1, 210) according to claim 1 or 2, wherein, The cross-sectional area of ​​the lower surface (211') of the lifting frame is at least equal to the cross-sectional area of ​​the upper surface (2'') of the connector frame.

8. The lifting device assembly (1, 210) according to claim 1 or 2, wherein, The delivery container coupling mechanism (3) includes: - Two gripper paddles for holding the delivery container (20), the two gripper paddles being arranged at a distance from the vertical center plane ( CP At equal and opposite distances, wherein the vertical center plane is oriented perpendicular to the lower surface (2') of the connector frame. - Each gripper paddle includes a protrusion (3') located below the lower surface (2') of the connector frame for insertion into a corresponding coupling structure (21) of the delivery container (20).

9. The lifting device assembly (1, 210) according to claim 8, wherein, The delivery container coupling mechanism (3) further includes: - Displacement system (5-9) for displacing the two gripper paddles from the vertical center plane in opposite directions until the protrusion (3') engages the corresponding connecting structure (21).

10. The lifting device assembly (1, 210) according to claim 9, wherein, The displacement system (5-8) includes: - Motor (5), - Control system (7), configured to control the operation of the motor (5), - A first link (9, 9a), one end of which is connected to the motor (5) and the other end of which is connected to one of the two gripper paddles, and - Second link (9, 9b), one end of the second link is connected to the motor (5) and the other end is connected to the other of the two gripper paddles. The motor (5) is configured to move the first link and the second link away from the vertical center plane in opposite directions.

11. The lifting device assembly (1, 210) according to claim 10, wherein, The displacement system (5-8) also includes: - A rotating element (6) connects the first connecting rod and the second connecting rod (9, 9a, 9b) to the shaft of the motor (5). - Wherein, the motor (5), the rotating element (6), and the first and second connecting rods (9, 9a, 9b) are configured such that the reverse displacement of the first and second connecting rods (9, 9a, 9b) is achieved by rotating the rotating element (6) clockwise or counterclockwise between 0 and 180 degrees.

12. The lifting device assembly (1, 210) according to claim 10 or 11, wherein, The control system (7) is divided into: - The lower portion (7') located on the lower surface (2') of the connector frame, and - The upper portion (7'') located on the upper surface (2'') of the connector frame. The upper part includes: - One or more lifting device connectors that communicate with the lower part (7') via signals, and - Wherein, the lifting frame (211) includes one or more connectors that communicate signalically with the one or more lifting device connectors.

13. A delivery container connector (1) for use in a lifting device assembly (1, 210) according to any one of claims 1 to 12, wherein, The connector (1) includes: The connector frame (2) has a lower surface (2') and an upper surface (2'') of the connector frame; and The delivery container coupling mechanism (3) is fixed to the coupling frame (2) and extends from the lower surface (2') of the coupling frame for releasable coupling to a corresponding coupling structure (21) located within the internal volume of the delivery container (20). The connector (1) is configured to be held from the upper surface (2'') of the connector frame by a plurality of clamps (212) of the lifting device (210). The connector (1) also includes: Electrical contacts, located on the upper surface (2'') of the connector frame of the connector, receive power from the lifting device (210) when in the connected position below the lifting device (210) and held by the clamp (212) of the lifting device (210). The power is used to operate the delivery container coupling mechanism (3) so that the delivery container coupling mechanism is releasably coupled to the inner surface of the delivery container (20).

14. The delivery container connector (1) according to claim 13, wherein, The delivery container coupling mechanism (3) includes a gripper paddle that is arranged to pivot outward to contact the coupling structure (21) of the delivery container (20).

15. The delivery container connector (1) according to claim 13 or 14, wherein, The connector (1) is configured to extend in the lateral direction no more than the periphery of the lifting device (210) intended to be connected to the connector.

16. A storage and retrieval system (100), comprising: - A frame (101) comprising a plurality of vertical upright members (102) defining a plurality of storage columns (105) for storing a stack (107) of storage containers (106), and - A track system (108), arranged on the frame (101), the track system (108) comprising vertical tracks (110, 111), the intersections of which form a grid of grid cells (112), the tracks defining grid openings (115) for entry into the plurality of storage columns (105), and - Container handling vehicles (200, 300, 350), including: The drive components (202a, 202b, 302a, 302b) are configured to travel along the track system (108). Lifting device assembly (1, 210) according to any one of claims 1 to 12. Storage container space for receiving and loading storage containers (106). A lifting motor is used to lift the storage container (106) into the storage container space, and A lifting belt (213), one end of which is connected to an attachment mount (213') and the other end of which is connected to the lifting motor.

17. The storage and retrieval system (100) according to claim 16, wherein, The storage and retrieval system (100) further includes: - Control system (600); and - A robot pickup device (400) that communicates with the control system (600) via signals, the robot pickup device (400) comprising: a robot base (401); a first robot segment (402) rotatably connected to the robot base (401); and operating ends (405, 406) configured to allow releasable connection to the delivery container (20). - wherein the robot picking device (400) is configured such that the operating end (405, 406) can be moved to a position that is at least within the range of the storage container (106) to be delivered to the access and distribution station (500).

18. A method for lifting a delivery container (20) disposed within a storage container (106) using a container handling vehicle (200, 300, 350) and a delivery container connector (1), in, The container handling vehicle (200, 300, 350) includes: a storage container space for receiving and loading storage containers (106); a drive mechanism (202a, 202b, 302a, 302b) configured to move the container handling vehicle (200, 300, 350) along a track system (108); a lifting device (210) for raising and lowering the storage containers (106); a lifting motor for raising the storage containers (106) into the storage container space; and a lifting belt (213), one end of which is connected to the lifting device (202a, 300, 350). 10) and the other end is connected to the lifting motor, wherein the lifting device (210) includes: a lifting frame (211) having a lower surface (211') of the lifting frame; and a plurality of clamps (212) extending from the lower surface (211') of the lifting frame, and wherein the connector (1) includes: a connector frame (2); and a delivery container connecting mechanism (3) fixed to the connector frame (2) for releasable connection to a corresponding connecting structure (21) located within the internal volume of the delivery container (20) or at the periphery of the delivery container (20). The method includes the following steps: - Lower the lifting device (210) to contact or approach the connector frame (2) of the connector (1), - The lifting device assembly (1, 210) is formed by clamping the connector (1) by operating the clamp (212). - Raise the lifting device (210), wherein the connector (1) is connected to the lifting device. - To move the container handling vehicles (200, 300, 350) along the track system (108) to a position above the lifting assembly (1, 210) above the storage container (106) containing the delivery container (20), - Lower the lifting assembly (1, 210) to a position where the connector (1) can connect to the delivery container (20). - The connector (1) is connected to the delivery container (20) by operating the delivery container coupling mechanism (3), and - The delivery container (20) is raised from the storage container (106) by using the lifting motor until the delivery container (20) is at least partially located within the storage container space.

19. The method according to claim 18, wherein, The storage container (106) is stored within a storage and retrieval system (100), the storage and retrieval system comprising: - The container disposal carrier (200, 300, 350). - A frame (101) comprising a plurality of vertical upright members (102) defining a plurality of storage columns (105) for storing a stack (107) of storage containers (106), and - The track system (108) is arranged on the frame (101), the track system (108) includes vertical tracks (110, 111), the intersections of these tracks form a grid of grid cells (112), the tracks define grid openings (115) for entering the plurality of storage columns (105). The step of moving the container handling vehicle (200, 300, 350) to a position above the lifting assembly (1, 210) above the storage container (106) containing the delivery container (20) is limited by the orientation of the tracks (110, 111).

20. The method of claim 19, wherein, The storage and retrieval system (100) further includes: Port pillars (119, 120); and The access and distribution station (500) is located at the lower end of the port posts (119, 120). The method further includes the following steps: - Move the container disposal carrier (200, 300, 350) to a position where the delivery container (20) is above the port post (119, 120), and - Transport the delivery container (20) to the access and distribution station (500).

21. The method according to claim 20, wherein, The method further includes the following steps: - Reconnect the container disposal carriers (200, 300, 350) to the connector (1). - Move the container disposal carrier (200, 300, 350) to a position such that the connector (1) is positioned above at least one of the port posts (119, 120). - Lower the connector (1) into the port post (119) until the connector (1) is in a clamping position, in which the delivery container (20) is positioned at the lower end of the port post (119). - Connect the delivery container (20) to the connector (1), and - The delivery container (20) is at least partially raised into the storage container space of the container disposal vehicle (200, 300).

22. A computer-readable medium having a computer program stored thereon, the computer program comprising instructions for implementing the steps of the method according to any one of claims 18 to 21.

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